Mechatronics Cylinder - Mirai Inter- · PDF fileThe Mechatronics Cylinder consists of a rotary-linear motion transfer mechanism, ... AJ71UC24, A1SJ71US24-R2/R4/PRF, A1SJ71C24-R2/R4/PRF,

Mechatronics Cylinder SCN Series

SCL Series

Operation Manual

Document No. MF-005500-EN Ver. 1.33 2008/07/01

. . Dyadic Systems – Mechatronics Cylinder Manual MF-005500-EN-2/63

《For Safety》

If this product is to be used in any application which has a potentially serious effect on human life and health by the failure and/or accidental movement of this product, such as machines relating to Nuclear Power, Aerospace, Transportation, Medical and safety systems, etc., please consult us.

In case of incorrect handling, some level of damage to the product may occur. This damage may lead to poor product performance.

[General]

● Please do not use this product in explosive environments.

● Please do not move, work on wiring, or conduct any maintenance while the Power is ON. Wait several minutes after the Power is OFF to conduct any of the above tasks.

● Please have experts to do the job of transportation, installation, wiring, operation and maintenance, etc.

● Please use this product within the specifications.

● Please do not use damaged product. ● Any modification or reconstruction of the

product by the customers voids warranty and transfers responsibility for all results to the customer.

[Mounting, Start Up]

● Please make sure that there is no Flammable material and/or product in the vicinity of the Mechatronics Cylinder.

● Please make sure that there is no obstruction to ventilation for cooling. Ensure appropriate assemblies guide any loading on the Mechatronics Cylinder. In case of direct coupling to the mechanism, please pay attention to the accuracy to minimize radial loading.

● Check that the direction of the movement is correct before mounting of our product.

● The Mechatronics Cylinder doesn’t have mechanical protection for over load. Please provide mechanical over load protection.

[Wiring]

● Please make sure that the wiring is correct and completed with strong connections.

● Please do not bend, pull or pinch cables. ● Please make sure that the ground wires and

terminals are grounded.

[Running]

● The Mechatronics Cylinder may run at high temperatures. Please do not touch with bare skin.

● The Mechatronics Cylinder has its own control built in. Please do not use other control.

● Please do not use our product without additional protection in the presence of water splashes, corrosive gas or material, or flammable material.

[Maintenance/Inspection]

● Please do not measure open circuit resistance.

[Storage]

● Please store the Mechatronics Cylinder in a cool, dry environment free of corrosive gas and liquids.

[Transportation/Receiving]

● Please pay extra caution for any damage during the transportation.

● Please check if the delivered product is the right one.


Table of Contents 1. Summary ................................................................................................................................. 5

1.1. Features ------------------------------------------------------------------------------------------------ 5 1.1.1 Overcoming weaknesses of Pneumatic Cylinders --------------------------------------------5 1.1.2. This section is to introduce some product features and notes in detail: ----------------8

1.2 Names of Parts---------------------------------------------------------------------------------------- 9 1.2.1 Names----------------------------------------------------------------------------------------------------9 1.2.2 Name Plate--------------------------------------------------------------------------------------------11

2. Safety Notes.......................................................................................................................... 11 3. Start Up.................................................................................................................................. 12

3.1. Preparation -------------------------------------------------------------------------------------------12 3.1.1. Check if there is any damage--------------------------------------------------------------------12 3.1.2 Check if the product is correct--------------------------------------------------------------------12 3.1.3 Power Supply-----------------------------------------------------------------------------------------12 3.1.4. Tools ---------------------------------------------------------------------------------------------------12 3.1.5. Programming Tool----------------------------------------------------------------------------------12

3.2. Wire the Power/IO cable and run from the PC programming tool------------------12 3.2.1. Check the Power & I/O cable: -------------------------------------------------------------------12 3.2.2. Check Parallel Connector Cable----------------------------------------------------------------12 3.2.3. Parallel Cable Preparation -----------------------------------------------------------------------14 3.2.4. Connect Parallel cable and ADP Cable with Mechatronics Cylinder ------------------15 3.2.5. Teach Pendant Programming – Quick Start and Simple Cycling ----------------------16 3.2.6. Quick Start – Program some Position-Controlled Motions With the Teach Pendant18 3.2.7. Quick Start – Program a Force-Controlled Motion With the Teach Pendant --------19 3.2.8. Quick Start – Set Up of Basic Parameters Using the PC Tool (TBVST-EN-SET) -20

4. Installation and Test Running ............................................................................................. 22 4.1. Installation--------------------------------------------------------------------------------------------22

4.1.1. The Installation Environment --------------------------------------------------------------------22 4.1.2. Recommended mounting of Mechatronics Cylinder ---------------------------------------22 4.1.3. Use of the shaft tip screw-------------------------------------------------------------------------22 4.1.4. Load installation accuracy------------------------------------------------------------------------22 4.1.5. Servo Amplifier Mounting and Environmental Installation Limits -----------------------23

4.2. Wiring --------------------------------------------------------------------------------------------------23 4.2.1. Wiring --------------------------------------------------------------------------------------------------23

4.3. Notes for wiring and connections ------------------------------------------------------------25 4.3.1. Power shut down -----------------------------------------------------------------------------------25 4.3.2. +24VDC Ground ------------------------------------------------------------------------------------25 4.3.3. Power input circuit ----------------------------------------------------------------------------------26 4.3.4. When Driving Coils or Other Inductive Loads -----------------------------------------------26

4.4. Wiring examples of outside connections --------------------------------------------------27 4.5. Trial run------------------------------------------------------------------------------------------------29

5. Specifications of Mechatronics Cylinder ........................................................................... 30 5.1. Specification of Servo Cylinder ---------------------------------------------------------------30

5.1.1. Specifications ----------------------------------------------------------------------------------------30 5.1.2. Rod speed-thrust curve ---------------------------------------------------------------------------34 5.1.3. Dimensions-------------------------------------------------------------------------------------------40


6. Interface specifications........................................................................................................ 45 6.1. Circuit Diagrams for 24VDC I/O (PNP)-------------------------------------------------------45 6.2. PIO specifications----------------------------------------------------------------------------------46

6.2.1. Input signals------------------------------------------------------------------------------------------46 6.2.2. Input signal details----------------------------------------------------------------------------------48 6.2.3 Output signal------------------------------------------------------------------------------------------49 6.2.4. Output signal details -------------------------------------------------------------------------------50 6.2.5. Timing Chart -----------------------------------------------------------------------------------------51

6.3. Specification of SIO -------------------------------------------------------------------------------53 6.3.1. Summary----------------------------------------------------------------------------------------------53

7. Support equipment............................................................................................................... 53 7.1. PC Tool (Model: TBVST-EN-SET) -------------------------------------------------------------53 Installation condition of PC is as follows: -------------------------------------------------------54 7.2. Teaching Pendant Tool (Model: CTA-23EN-SET) ----------------------------------------54 7.3. RS232C/RS485 Junction Converter Circuit -----------------------------------------------55 7.4. Connector Converter: ADP-2-4 ----------------------------------------------------------------55 7.5. Cables--------------------------------------------------------------------------------------------------56 7.6. Foot mounting brackets--------------------------------------------------------------------------57

8. Maintenance.......................................................................................................................... 59 8.1. Maintenance & Inspection-----------------------------------------------------------------------59 8.2. Warranty-----------------------------------------------------------------------------------------------59

9. Diagnosis of Abnormal Operation....................................................................................... 60 9.1. Diagnosis by Alarm Codes----------------------------------------------------------------------60 9.2. Error Diagnosis by error operation of Mechatronics Cylinder ----------------------61


1. Summary

The Mechatronics Cylinder consists of a rotary-linear motion transfer mechanism, a stepper motor, an encoder, and a servo controller. Manufactured by Dyadic Systems, this product can be a replacement for pneumatic cylinders. Motion is programmed and controlled using Dyadic’s simple interfaces, allowing for a wide variety of inputs and inter-operability.

1.1. Features

1.1.1 Overcoming weaknesses of Pneumatic Cylinders

(1) Simplifying wiring and related equipment.

(2) Multiple positioning: Easy program for up to 16 motions per axis

(3) Programmable Push Force

A

B

A

B

SW-A

SW-B

AutoSwitch

A

B

SpeedController

Solenoid Valve

Mufler

Filter

Lubricater

R1 P

R2 Mech.Cylinder will simplify your system! A

ir Supply

Air C

ylinder

Acceleration DecelerationProgrammed Speed

Stop condition

Speed Time

Acceleration Deceleration

Work

Programmed Speed


Stop

Position

Push Movement

Speed

Stop condition

Time


(4) Programmable Positioning Speed: Very Slow Speed is possible, which is very difficult with Air

Cylinder. (5) Incremental Movement: Starting from the current position. Multiple incremental moves can be used

together to simulate a “Step & Direction” type of control.

(6) Programmable Acceleration and Deceleration: Same Acceleration and Deceleration can be

programmed. Optimum Acceleration and desired Deceleration can be set respectively.

(7) Programmable Flexible Speed Profiles: Speed can be changed without stopping.


Programmed Speed

Stop condition

Speed Time

Ultimate Acceleration According to the load

Programmed Deceleration


Programmed Speed

Stop condition

Speed

Time

200 mm/sec 150 mm/sec 100 mm/sec

Posi SignalWidth

Speed 200

(1)Stop condition

Posi SignalWidth

Speed 150

Posi Signal Width

Speed 100

(2) (3)

Speed

Time


(8) Emergency Stop: During the movement of Mechatronics Cylinder, the movement will stop if the

Interlock signal is interrupted.

(9) Programmable Zone Signal Output: Mechatronics Cylinders can be programmed to output a Zone

Signal.

(10) An air compressor is not needed so that systems using Mechatronics Cylinders will have high energy efficiency.

(11) Oil waste is not generated so that oil collection equipment is not needed. .

(12) Dampers (Shock absorbers) are not needed.

Emergency Stop Signal

ON OFF

ON OFF Zone Signal Output

Zone Signal Output Area

Stop condition

Speed

Time

Acceleration Deceleration Acceleration

Stop condition

Speed

Time



1.1.2. This section is to introduce some product features and notes in detail:

(1) SCN-5 All-In-One Actuator: The Mechatronics Cylinder model SCN5 is a fully integrated actuator including linear actuation mechanism, motor, servo drive and controller. Therefore after connecting the power supply and some signal wiring, the SCN5 is ready for operation.

Other models (SCN6, SCLL, some SCLT models) have external controllers but the programming software and ease of use are the same and the controllers are included in the part number.

(2) All actuators can be set such that the home position is at either end. The default home position is the return (motor) end. The PC tool software allows the user to change homing parameters such as speed and target thrust. The coordinate system is negative for the return home position and positive for the forward home position.

(3) There is a close correlation between thrust and speed. If the necessary thrust is large, the max speed is reduced. Please consult with the speed-thrust curve.

(4) Thrust capacity is the same for forward motion and return motion. (5) The “Push Force” mode uses a high-speed, position-controlled approach move, followed by a lower

speed force controlled move. The speed of the force-controlled part of the move can be changed on some Dyadic actuators. However, the max speed of the force controlled move will be limited by the amount of current allowed for the target force (ie the actuator will not achieve full speed in this mode if the target force is low). Also please keep in mind that high-speed impact to a hard target may shorten the life of the actuator.

(6) In vertical use, the max load at power-up is lower. This value is published in the specs for each actuator.

(7) There are 3 types of power saving functions (PC tool software is necessary to access these modes): -1 Current setting at homing -2 Current setting during positioning motion -3 Current shut off after positioning

(8) Mechatronics Cylinder amplifiers have PNP models and NPN models. Please wire carefully following the correct schematics.

(9) Mechatronics Cylinder outputs are open collector type. In case of driving a load like a coil, please provide a surge absorber diode.

(10) The shafts of rod-type actuators are not designed for radial loading. Please provide external guides and ensure proper alignment as poor alignment will transfer radial stress to the shaft nut and reduce actuator life.

(11) Linear guides should be aligned within 0.1mm over the length of travel. Rough installation will reduce the product life.

(12) The short cables protruding from the actuator motor are not flex-rated. If the application requires cable motion, please use high flex cables (marked with “R” after the cable part number).

(13) Tightening torque for shaft-tip nuts is as follows: 30 kg-cm for SCN5, 45 kg-cm for SCN6 (14) Clean room actuators may be available depending on the requirement. (15) Stroke limits for both directions can be set. (16) The shaft tip screw is: M10, 1.25mm pitch for SCN5, M14, 1.5mm pitch for SCN6 models (17) The front mounting block has a pilot diameter to make centering easily. (for SCN5 and SCN6) (18) Shafts are anti-rotational. Please do not turn the shaft. (for SCN5 and SCN6) (19) Multiple axis operation through serial communication is possible. DeviceNET, ccLink, and ASCII

interfaces can be used. The operational PLC are; Mitsubishi, Keyence, OMRON as follows: Mitsubishi PLC - MELSEC-A series (PC link unit) AJ71UC24, A1SJ71US24-R2/R4/PRF, A1SJ71C24-R2/R4/PRF, A1SCPUC24-R2, A2CCPUC24(PRF) Mitsubishi PLC - MELSEC-F series (Communication board) FX2N-232-BD, FX1N-232-BD, FX2NC-232-ADP Notes: Sample programs can be provided in the project file of Mitsubishi GX Developer Version 7, therefore the customer must have the program GX Developer Version 7 or newer. Keyence PLC – KV-700 (Communication unit) KV-L20 attached OMRON PLC – CS/CJ series (CPU unit)

CS1H-CPU*H, CS1G-CPU4*H, CS1H-CPU6*-V1, CS1G-CPU4*-V1, CJ1H-CPU6*H,


Internal RS232 communication port for CJ1G-CPU4*H, CJ1M-CPU2*, CJ1M-CPU1* Notes: The DLL file is available for PC-based applications.

(20) Dyadic programming tools can configure many advanced parameters as follows: Available function PC software Teach pendant

Stopping position, Max. speed, Acceleration, Push force

O O

Maximum acceleration (with user-defined decel.) O O Incremental motion O O Position complete (PFIN) window width O O Servo gain O O Home position direction change O O Stroke limit O O Zone output range O O ILK signal operation (motion can be paused or cancelled)

O O

Homing motion speed and thrust O X Selection of position completion signal or in-position signal

O X

Choose operating mode (Normal, Air 1, Air 2) O X

(21) 24VDC I/O can be configured for different operation in “Normal”, “Air replaceable 1”, or “Air Replaceable 2” modes using the TBVST software. In normal mode the cylinder uses the PC1, 2, 4, and 8 inputs in BCD combination to run 16 different motions and needs a CSTR pulse to initiate each move. In the “Air Replaceable” modes the cylinder can run up to 3 motions as commanded by the PC1, PC2, or PC4 inputs. The different modes control whether the inputs must be maintained during motion, or can be pulsed. Please see the TBVST manual for more information on the “Air Replaceable” modes.

1.2 Names of Parts

1.2.1 Names

SCN5 Model (10Kgf Type)

Rod ShaftMechanism

Servo Amplifier & Controller

Name Plate

Motor

Thread

Rod


SCN6 Model (20Kgf & 50Kgf Type) SCLL6 Model (Slider 20Kgf Type)

Shaft thread Main body Motor

Motor/Encoder Connector

Servo amplifier /Controller Motor/Encoder

Connector

Power Parallel Connector Serial

ConnectorFace of name plate

Servo amplifier /Controller

Motor/Encoder Connector

Power Parallel

Connector

Serial Connector

Face of name plate

Motor

Motor/Encoder Cable

Face of name plate

Cover

Slider Mechanical portion


1.2.2 Name Plate

The name plate is located at the back of the Mech. Cylinder. (Please refer to 1.2.1) 2. Safety Notes (1) Please use the following voltages and power supplies of sufficient capacity:

Using N axes, 2 x N (amps) power supply capacity is not necessary if the timing of axis movements varies slightly.

(2) Incorrect wiring may damage the equipment. (3) Please do not change wiring when the power is on. Please remove and/or plug in parallel connectors (PIO)

when the power is turned off. (4) Please install the unit in a good place for sensitive electrical equipment. (Good thermal radiation, low vibration,

low shock) (5) Please make sure to provide protection from electrical noise. If the unit receives noise, the cylinder may

vibrate and/or make inaccurate movement. (6) Please do not test the unit for voltage durability or electro-magnetic susceptibility. (7) Please hold the connector when disconnecting the cables. (8) Please note that the coordinate system for the forward homing mode is negative and the reverse homing

mode is positive. This also applies to the push force mode. This is especially important to keep in mind for Teach Pendant operation.

(9) The short cables protruding from the motor are not high flex cables. Notes for SCLL6 Model

(10) Ensure the system is designed within the specifications of max moment load on the slider table. (11) The acme screw in the SCLL6 is exposed to the ambient environment. Therefore it requires an application of

grease approximately every 6 months. The recommended grease is Lithium type No.2. Remove the top cover by removing the 4 cover screws, and apply grease on the slider screw. Move the carriage back and forth several times to distribute the grease. Please do not apply grease to the guide bushings of the carriage.

Intelligent Cylinder Model Name & Code

Dyadic Systems Co.,Ltd

S/N

MODEL

Serial NumberMADE IN JAPAN

Models Power type Power SCN5- Built-in Amp, SCLL5- Built-in Amp, SCLG5- Built-in Amp, SCLT4- Built-in Amp

DC24V+/-10% (Max. 2A)

Motor DC24V+/-10% (Max. 3A) SCN6, SCLL6, SCLT6 Control DC24V+/-10% (Max. 0.2A) Motor DC24V+/-10% (Max. 2A) SCLL5- External Amp,

SCLG5- External Amp, SCLT4- External Amp

Control DC24V+/-10% (Max. 0.2A)


3. Start Up 3.1. Preparation

3.1.1. Check if there is any damage Please check the appearance of the product to ensure no damage occurred during transportation.

3.1.2 Check if the product is correct Please verify that the product is the same as ordered.

3.1.3 Power Supply Please provide a power source. (Regulated DC24V)

3.1.4. Tools Tools will be required to work on wiring and connecting. (Wire Stripper, Wire connectors, etc.)

3.1.5. Programming Tool An individual Mechatronics Cylinder doesn’t include programming tools such as the Teach Pendant or PC Tool (TBVST-EN). These items are sold separately.

3.2. Wire the Power/IO cable and run from the PC programming tool

3.2.1. Check the Power & I/O cable:

Connection Example (SCN5 Model)

3.2.2. Check Parallel Connector Cable

The parallel cable includes the power and signal cable required to run the Mechatronics Cylinder from a PLC and/or switches.

Connect the Power & I/O cable (Parallel cable)

Connect the ADP Cable for communication with the PC Programming Tool or a teach pendant

Models Power cable SCN5-Amp built-in: RP9100-XXX

SCN6 and all SCL actuators:

RP9120-XXX


Cable For SCN5 Actuators (RP9100-XXX)

Cable For All Actuators Other Than SCN5

I/O cable to connect with PLC and/or switches (Thicker cable)

Power connection cable (Thinner cable)

Connect to Mechatronics Cylinder

Signal cable to connect with PLC and/or switches (Thicker cable)

Power connection cable (Thinner cable)

Connect to the power & I/O connection of the actuator or controller


3.2.3. Parallel Cable Preparation

Please use tips for stranded wire on the ends of all connections. SCN5 Models (10Kgf Type) To run from PC Tool Kit (sold separately) only, please connect the power wires (Red: +24V, Black: 0V) and ILK (Brown: +24V) at this time (see below)

Red: +24V

Black: 0V

Green: FG

(Connect to ground) White: FG

(Connect to ground) Orange: ZONE (ZONE signal) Light Green: (ALM signal output) Red: PC4 Green: PC8 Yellow: CSTR White: PC2 Black: PC1 Brown: ILK (Emergency Stop) signal

Connect with +24V Blue: PFIN (Position Finished) Gray: ZFIN (Homed)

PNP Type


SCN6 Model SCL Models

* SCL actuators with amp built-in do not use the PM1, PM2, PM4 and PM8 outputs.

3.2.4. Connect Parallel cable and ADP Cable with Mechatronics Cylinder

SCN5 Models (10Kgf Type) The ADP Cable is supplied with your Programming Tool (PC Tool Software, Teach Pendant Tool). Please connect the ADP cable with the Mechatronics Cylinder after the 24VDC power is supplied.

Connect parallel cable

Connect ADP Cable (Included with Programming Tool)

Red: +24V, Motor Power Black: 0V, Motor Power Yellow: +24V, Controller Power White: 0V, Controller Power Brown: NC, please do not connect Green: FG (ground) Black: PC1 White: PC2 Red: PC4 Green: PC8 Yellow: CSTR Brown: NC (No connection) Blue: NC (No connection) Purple: ILK, (E-Stop) +24VDC Grey: PM1 * Pink: PM2 * Light green: PM4 * Orange: PM8 * Light blue: PFIN Dark brown: ZFIN White&Black: Zone Red&Black: ALM

PNP Type


SCN6 Model (20Kgf & 50Kgf Type) SCL Models (Slider Type)

3.2.5. Teach Pendant Programming – Quick Start and Simple Cycling

(1) Please connect the the ADP cable with the Teach Pendant as per figure below.

(2) Apply 24VDC power to the actuator. (3) Approx. 4 to 5 seconds after the power is turned ON, the Servo ON LED will be turned ON and the

LCD Display of the Teach Pendant will show “Make Homing” with Teach Position [0] flashing. Please press and hold the HOMING button until the “HOMED” LED illuminates.

(4) When the axis has been homed, if the jog wheel on the Teach Pendant is turned to clockwise, the rod of Mechatronics Cylinder will extend. if the jog wheel is turned counterclockwise, the Mechatronics Cylinder will retract.

(5) Please press the “POSITION SELECT” button while pressing the “NORMAL POSITIONING” button. This will download the demo data from the teach pendant to Mechatronics Cylinder.

(6) Please press the “POSITION SELECT” button once - the position number will show [1]. (7) Please hold the “NORMAL POSITIONING” button and press the “HOMING” button. This will

cause position 0 and position 1 to cycle repeatedly with a small delay between. The motions will cycle from 0 to whatever number is displayed when the demo mode is initiated.

(8) Please press the “NORMAL POSITIONING” button to stop the motion. (9) Please use the operation manual of Teaching Pendant for more details, or see the next section to

try programming some simple positions.

Connect ADP cable to actuator serial connector

○ Servo ON ● Servo ON

○ Homed ● Homed

Connect parallel cable

Connect ADP Cable (Included with Programming Tool)



3.2.6. Quick Start – Program some Position-Controlled Motions With the Teach Pendant

Stop position Speed Note Position 0 - 5 mm 50 mm/sec Position 1 - 45 mm 10 mm/sec Position 2 - 25 mm 25 mm/sec

Please enter the data close to the value. Exact value is not needed.

Note: The default position coordinate is negative. If the home position was changed to the forward side, the position coordinate is positive.

(1) Connect the ADP cable to the Teach Pendant and the serial connector on the servo controller. (2) Wire the power cable as follows:

RP9100 power cable: Red (Drive) with +24VDC, Black (Drive) with 0V, Brown (ILK) with +24VDC RP9120 power cable: Red (Drive) with +24VDC, Black (Drive) with 0V, Yellow (Control) with +24VDC, White (Control) with 0V, Purpule (ILK) with +24VDC

(3) Please turn the power ON. (4) 4-5 seconds after the power is turned ON, the Servo ON LED of the Teach Pendant will be ON and

the LCD will be display “Make Homing”. Please press and hold the “homing” button until the display shows the “Homed” message.

(5) Please turn the jog wheel clockwise, so that the Mechatronics Cylinder shaft will extend. (6) Program Position number 0

Confirm that Position 0 is displayed and the “Pos. Jog/Teach” indicator is lit. Please turn the wheel to make the LCD display [-5mm] then press “WRITE”. Please press the “DATA ENTRY MODE” button twice to cycle to the “SPEED DATA INPUT” parameter, then turn the wheel to set the speed to 50mm/sec. Please press “WRITE” to save the change. Now position 0 has a position target of -5mm and a speed target of 50mm/sec.

(7) Program Position number 1 Please press the “POSITION SELECT” button once so that position 1 is displayed in the red seven-segment display. Now position 1 is available to change. Check that the “Pos. Jog/Teach” indicator is lit, and turn the wheel to make the LCD display [-45mm], then press the “WRITE” button. Please press the “DATA ENTRY MODE” button twice to cycle to the “SPEED DATA INPUT” parameter, then turn the wheel to set the speed to 10mm/sec. Please press “WRITE” to save the change. Now position 1 has a position target of -45mm and a speed target of 10mm/sec.

(8) Program Position number 2 Please press the “POSITION SELECT” button once so that position 1 is displayed in the red seven-segment display. Now position 1 is available to change. Check that the “Pos. Jog/Teach” indicator is lit, and turn the wheel to make the LCD display [-45mm], then press the “WRITE” button. Please press the “DATA ENTRY MODE” button twice to cycle to the “SPEED DATA INPUT” parameter, then turn the wheel to set the speed to 10mm/sec. Please press “WRITE” to save the change. Now position 2 has a position target of -25mm and a speed target of 25mm/sec.

(9) Please hold the “NORMAL POSITIONING” button and press the “HOMING” button. This will cause position 0, position 1, and position 2 to cycle repeatedly with a small delay between. Please press the “NORMAL POSITIONING” button to stop the execution.


3.2.7. Quick Start – Program a Force-Controlled Motion With the Teach Pendant

Let’s program the motion as per the figure on the right, such that the actuator moves 20mm at higher speed, then switches to low speed to look for a pre-set force. Please note that the force value is negative (-) for the extend direction, positive (+) for the retract direction.

(1) Connect the ADP cable to the Teach Pendant and the serial connector on the servo controller. (2) Wire the power cable as follows:

RP9100 power cable: Red (Drive) with +24VDC, Black (Drive) with 0V, Brown (ILK) with +24VDC RP9120 power cable: Red (Drive) with +24VDC, Black (Drive) with 0V, Yellow (Control) with +24VDC, White (Control) with 0V, Purpule (ILK) with +24VDC

(3) Please turn the power ON. (4) 4-5 seconds after the power is turned ON, the Servo ON LED of the Teach Pendant will be ON and the

LCD will be display “Make Homing”. Please press and hold the “homing” button until the display shows the “Homed” message.

(5) Please turn the JOG handle clockwise and verify that the actuator shaft moves forward. (6) The following will store push force parameters in position 4.

Please press the “POSITION SELECT” button 4 times such that the position number display indicates [4]. Now position 4 can be programmed. Please press the “PUSH POSITIONING” button. Now position 4 is in push force mode. Check that the “POS. JOG TEACH” LED is lit, and turn the JOG handle to extend the actuator until the LCD displays position [-20mm]. Press “SAVE” button. This is the position at which the higher speed part of the move will end and the force controlled part of the move will begin. This is also referred to as the “Approach Point”. Please press the “DATA ENTRY MODE” button twice to access the “SPEED DATA INPUT” parameter. Change the speed to 50mm/sec by turning the JOG handle, then press the SAVE button. Press the “DATA ENTRY MODE” button 3 times to access the “PUSH FORCE DATA IN” parameter. Set the push force to -20% by turning the JOG handle, then press the “SAVE“ button. Now, position 4 has a force-controlled motion programmed as shown in the above figure.

(7) Turn the JOG handle counter clockwise to retract the shaft. Press and hold the “POSITION RUN” button with number 4 displayed in the seven segment display, and the actuator will operate the push force motion. If the button is released the motion will stop.


Connect to PC serial port (COM port)

3.2.8. Quick Start – Set Up of Basic Parameters Using the PC Tool (TBVST-EN-SET)

The following sequence of operations will allow you to download a default program into your Mechatronics Cylinder Controller. This program will over-write any other program currently in the controller. (1) Connect the ADP cable to the CN2 jack of the Connector Junction (ADP-2-4) as per figure below. Connect the SIO cable to the CNA jack of the Connector Junction (ADP-2-4) as per figure below.

(2) Power up the Mechatronics Cylinder, and connect the SIO cable to the RS232/485 adaptor

(ADP-1) and connect it to the serial port (COM port) of your PC as per the figure below.

(3) Start the PC Tool software (TBVST-EN).

(4) The first menu is for communication setup – please select the serial port Number that the ADP-1 is

plugged in to, then click Set. After few seconds, the operation menu will come up as follows.

(5) Please click the HOMING button, so that the Mechatronics Cylinder will home itself.

ADP Cable (RP9050)

SIO Cable (RP9041) Connector Junction (ADP-2-4)

RS232/485 Adaptor (ADP-1)

SIO Cable (RP9041)

CNA CN2

[HOMING] button

If this block is dragged and moved right or left, the Cylinder will move accordingly.

Click [FILE]


① Select【Download (PC⇒Amp.)】

② File Selection

(6) Please click【FILE】at left top on the screen, so that following Menu will be displayed.

(7) ① Please select【Download (PC→SERVO AMP)】and select the file which is suitable for the stroke

of the Mechatronics Cylinder being used. Click the【Download start】button, so that the demo

program will be copied to the Mechatronics Cylinder controller. (8) Click【Close】at the top right of the screen to return to the previous menu. Click the【Start】button

to initiate the sequence entered in the text box to the left of the Start button. The Mechatronics

Cylinder will repeat this sequence of moves from the downloaded demo program if there is a letter

“R” at the end of the sequence. Please click the【STOP】button to stop the demo movement.

(9) Please refer to 【HELP】 for details.

Click【START】so that the Mechatronics Cylinder will run the selected demo program.

Click【FILE】so that the File Menu will appear on the screen

③ Click【Download Start】


4. Installation and Test Running 4.1. Installation

If the installation and/or environment of the Mechatronics Cylinder are poor, the life of the actuator may be artificially shortened, or the Mechatronics Cylinder may malfunction. Please install the Mechatronics Cylinder with the following care:

4.1.1. The Installation Environment The Mechatronics Cylinder is generally intended for use indoors. Please provide a place for cylinder installation that meets the following requirements: ① Free of corrosive and/or explosive gas. ② Minimal moisture and/or dust ③ Ambient temperature between 0 ﾟ C ~ 40 ﾟ C. ④ Ambient humidity is 90%RH or less and there is no condensation. ⑤ Accessible for maintenance. ⑥ Safe from water splashing and/or oils.

4.1.2. Recommended mounting of Mechatronics Cylinder

SCN5 Model (10Kgf Type) SCN6 Model (20Kgf, 40kgf, 50Kgf Type and 60 kgf) The Mechatronics Cylinder is intended to be mounted with a flat washer, a split washer and an M5 cap screw at the 4 holes in the mounting Flange. Placing the flat washer before the Spring washer is important to avoid scratching the Mounting Flange. The recommended screw torque is 20 kg-cm for SCN5 models, 45 kg-cm for SCN6 models. Foot mounting brackets are available.

SCL Models Please mount the slider on a flat surface with the M6 nuts located on the bottom face slots.

4.1.3. Use of the shaft tip screw

SCN5 Model (10Kgf Type) SCN6 Model (20Kgf, 40kgf, 50Kgf Type and 60 kgf) The Mechatronics Cylinder uses a non-rotating Linear Actuation Mechanism. However it is not designed to withstand significant torque. Please use a wrench to hold the shaft flats while the nut is tightened onto the rod tip threads. The recommended nut tightening torque is 30 kg-cm for SCN5 models, 45 kg-cm for SCN6 models. If the rotary moment load is big and/or the backlash of the rotary direction is critical, please use an anti-rotating mechanism.

4.1.4. Load installation accuracy

SCN5 Model (10Kgf Type) SCN6 Model (20Kgf, 40kgf, 50Kgf Type and 60 kgf) Please ensure your guide is parallel to the rod of the Mechatronics Cylinder to within 0.1mm along the entire length of stroke. A simple way to check this dimension is to install the actuator with loose mounting screws (at the flange), then move the shaft through its stroke. If the back of the Mechatronics Cylinder moves less than 0.1mm, it is acceptable.


4.1.5. Servo Amplifier Mounting and Environmental Installation Limits

(1) Ambient temperature under 40°C. (2) Minimal shock and vibration. (should be lower than 0.5G) (3) Environment free of corrosive gas and dust. (4) Ambient humidity under 90%RH, non condensing. (5) Please use 2 ea of M3 screws to mount amplifiers as per the sketch below. Please leave 10mm

distance or greater between amplifiers, and leave 50mm or greater space for cables:

4.2. Wiring Please wire with reference to section 3.2.3.

4.2.1. Wiring (1) The following precautions may help to avoid problems with electrical noise: ① The wires from the Controller to the PLC and noise filter should be as short as possible. ② Power to coils of relays and solenoids should be managed by surge hardware. ③ Separate the wiring from other equipment.

(2) When the Mechatronics Cylinder system is being controlled by 24V I/O: ① Design the system to allow shut off of the 24V line to the actuator in case of “SERVO ALARM”. ② The sequences of power up and down should be as follows:

Vertical mounting Horizontal mountingMotor, Encoder cables

Power parallel cable & Serial cable

Top

Lower

Lower

TopMotor, Encoder cables

Power parallel cable & Serial cable

Installation distance

PNP Type



Names Time Application Trd 50msec Max. Power ON=> ALM signal start up trdy 250msec (normal) Power ON=> Completion of operation prep.

SCN6 Models, SCLL models, SCLT models SCLL6 Model (Slider 20Kgf Type)

Names Time Application Tpp 0msec Min. Control power ON=> Drive power ON

Drive power OFF=> Control power OFF Trd 50msec Max. Control power ON=> ALM signal start up trdy 250msec (general value) Control power ON=> Completion of operation prep.

trd trdy

Normal operation

24V Power ON

Completion of operation preparation

Actuator Movement

Power

Alarm output Positioning complete output

No thrust Beginning of Thrust

trdy

trd

Normal operation

tpp

Completion of operation preparation

Actuator Movement

24V control power

24V drive power

Alarm output


Completion of operation preparation Position

compl. output

In case of Power turned ON

In case of Power turned OFF

Actuator Movement

24V control power

24V drive power


tpp


(3) Wiring for Serial Control

① When planning a RS232C interface with the main control system, the ADP-1 (RS232C/RS485 converter) is necessary. Please refer to section 6.3 regarding the ADP-1.

4.3. Notes for wiring and connections 4.3.1. Power shut down

When shutting down 24VDC power to the Mechatronics Cylinder, please open both 24V and 0V lines from the power supply, or open the 24V side.

4.3.2. +24VDC Ground Please do not connect +24VDC power to ground.

PNP Type

PNP Type

If 0V of 24 VDC power supply is shut down, the power circuit of the Mechatronics Cylinder may be damaged.


4.3.3. Power input circuit

Ensure all I/O of the Mechatronics Cylinder are connected to either 0VDC or 24VDC±10%. Connection to any voltage in between these values may result in damage to the input or output.

The input circuits of the Mechatronics Cylinder are designed as non-isolated dedicated source drive circuits as described below. Therefore it is necessary to connect (ON) with +24V terminal, or open (OFF) with +24V terminal by using source type output circuit. As shown below, the input circuit will receive over current and the internal circuit will be damaged if a PNP input is driven by a sinking output circuit or connected with 0V directly.

4.3.4. When Driving Coils or Other Inductive Loads When using outputs to drive induction loads:

The output circuits of the Mechatronics Cylinder are open collector outputs as shown below. Therefore when driving an external load (such as a coil), please use an external surge diode or solid state relay. Surge voltage can damage the output circuit.

Fig. 2 Good PNP Input Circuit Fig. 3 Bad circuit (PNP) example X O

Sink type PLC


4.4. Wiring examples of outside connections

Connection of Parallel Interface (Parallel cable, I/O Control – PIO Connection)

+24V

FG PC1 PC2 PC4PC8

0V

CSTR ILK

PFIN/INP ALM

ZONE ZFIN

TRx+TRx-+5V0V

Position No.0

Position No.F

Position No.1

Position No. Set List

+24V

Power Shut Down Order

Please ground atground resistance100ohm or smaller

PositionNo. １２３０４５６７８９ＡＢＣＤＥＦPC1 PC2 PC4 PC8

０１００００

０００

００

００００００

００００００

００００００００００

１１１１１１１１１１１１１１１

１１１１１１１１１１１１

１１１１CSTR

SCN5 Model (10Kgf Type, PNP)

SCN6 PNP Model / SCLT Models. SCLL PNP Model .


Connection of Serial Interface (SIO Connection)

+24V

FG PC1 PC2 PC4PC8

0V

CSTR ILKPFIN/INP

ALMZONE

ZFIN

TRx+TRx-+5V 0V

(Program desired stop position)

+24V

Power Shut Down Order

Please ground atground resistance100ohm or smaller

To RS-232C Serial (COM) Port

RS-232C/RS-485 Converter

SIO Cable

ADP Cable

Connector Converter


SCN6 PNP Models / SCLL PNP Models SCLT PNP Model (External Amp Type)


(Note1) For serial (SIO) control of one or more Mechatronics Cylinders using the RS-485

protocol, requirements are one ADP cable per cylinder, one connector converter (ADP-2 or ADP-2-4) for every 4 axes, and one SIO cable for every 4 axes. Networks of up to 16 axes can be connected. When using RS-232C to control one or more Mechatronics Cylinders the ADP-1 RS232C/RS485 protocol converter is recommended as a simple solution for connecting to your 9-pin RS232 port.

(Note 2) It is recommended to program the system to cycle power if an alarm condition occurs. Follow guidelines shown in Section 4.3.1.

(Note 3) It is recommended to use a solid-state relay to turn ON/Off main power to minimize electrical spikes.

(Note 4) Power required is DC 24V+/-10%, Max 3A. (Note 5) Power, I/O and programming cables and converters are not included. Please

purchase separately. (Note 6) The Mechatronics Cylinder and cables are not water resistant. (Note 7) The SIO cable is generally intended for use inside a panel. 4.5. Trial run The user may wish to complete a trial run with no load connected to ensure the cylinder program is as expected. Please follow the steps below: (1) Power up the cylinder and controller, then complete the serial connection. (2) Ensure the cylinder is not connected to any load (3) Check the wiring to ensure all connections are tight and all connectors are securely connected. In using

serial control (SIO) for a multiple cylinder network, ensure a unique number is assigned to each axis (using the Axis Number Change software utility).

(4) Check each movement individually. (5) After checking individual movements, operate the system.


5. Specifications of Mechatronics Cylinder 5.1. Specification of Servo Cylinder

5.1.1. Specifications

Models -010-050 -010-100 -010-150 -010-200 -010-250 -010-300 Life 3 years after delivery or 10,000 km operation when applied within published specs Stroke (mm) 50 100 150 200 250 300 Max thrust (N)/(kgf) 100/10.2 Max. thrust at push mode (N)/(kgf) 70/7.1 Max. speed (mm/s): typ. data 400 200 160 120 Speed at push force mode (mm/s) 7.5 Repeatability (mm) +/-0.01 (when homing to hard stop and pushing on same side) Backlash (mm) 0.3 Radial load (N) 15 10 5 4 3 2.5 Shaft diameter (mm) 15 Dia Shaft tip screw thread Standard: M10 Pitch 1.25 (303 SS) Housing Extruded Aluminum Positioning capacity 16 motions, each with programmable acceleration, velocity, position Power DC24V+/-10% (max. 2.0 A)

Parallel input signal DC24V type DI/DO Interface (Connector PIO), Position number (4bit binary: PC1,PC2,PC4,PC8) Start (CSTR), Axis Movement Interlock (ILK)

Input Current

Max. 4mA / port

Parallel output signal Position complete (PFIN/INP), Homed signal (ZFIN), Zone signal(ZONE), Alarm (ALM), 24VDC Digital I/O Interface, PNP Standard

Output Current

Max. 10mA / port

Input /Output signal

Serial signal Serial Interface (Connector SIO) +5V, 5G, S+, S-

Protection Over speed, Main power over voltage, Voltage fault, Overload, Sensor fault, Servo fault, Encoder wire disconnected

Operation Temperature

0 ﾟ C ~ 40 ﾟ C.

Storage temperature -20 ﾟ C ~ 60 ﾟ C.

Ambient conditions

Operation/Storage moisture

≦90%RH, non condensing

Weight (kg) 1.1 1.2 1.4 1.6 1.8 2.0 Note 1) Specifications are subject to change without notice. Note 2) Push force value as figure below is typical value. Actual value may vary.


Notes: The max vertical load force is 7 kgf.

Notes: Push force set is negative (-) value for the shaft forward direction, positive (+) value for the opposite direction.

Push force set value vs Actual Push force Thrust vs speed


SCN6 Models (20Kgf, 40kgf, 50kgf & 60kgf Types)

MODEL SCN6-020 SCN6-040 SCN6-050 SCN6-060 050 100 150 200 250 300 050 100 150 200 250 300 050 100 150 200 250 300 050 100 150 200 250 300

Stroke (mm) 50 100 150 200 250 300 50 100 150 200 250 300 50 100 150 200 250 300 50 100 150 200 250 300Life Other than seal 3 years after the delivery, or 10,000 km operation under the use within the specs.

Seals 6 months, or 2,500 km run (Dust Proof Model Only)Max. Thrust (N) / (kgf) 200 / 20.2 400 /40.8 500 / 51.0 650 /66.3Max. vertical carriable wt at power ON 14 28 30 45Push mode max. Thrust (N)/(kgf) 140 / 14.2 280 / 28.5 350 / 35.5 450 / 45.9Max. Speed (mm/s) * note 1 200 100 100 100Repeatability (mm) ± 0.1Backlash (mm) 0.3Radial Load Capacity (N) 30 20 10 10 10 10 30 20 10 10 10 10 75 50 25 18 15 12 75 50 25 18 15 12Rod Diameter (mm) Ø 22Rod Tip Thread M14 Pitch 1.5 (303SS)

Program Capacity 16 MotionsPower Supply DC24V ± 10% (Drive Power max. 3.0 Amps, Control power max. 0.2A)

Parallel DC24V type DI/DO Interface (Connector PIO)Input Names Position number (4 bit binary: PC1,PC2,PC4,PC8)

Start (CSTR), Axis Movement Interlock (ILK)Input current Max. 4mA / port

I/O Parallel DC24V type DI/DO Interface (Connector PIO), Position complete(PFIN/INP),Output Names Completed Position Number (4bit binary: PM1,PM2,PM4,PM8),

Homed signal(ZFIN), Zone signal(ZONE), Alarm (ALM)Output current Max. 10mA / port

Serial Signal Serial Interface (Connector SIO) +5V, 0V, S+, S-Protection function Over speed, Main power over voltage, abnormal voltage,

Overload, Sensor abnormal, Servo abnormal, Encoder wire disconnectedOperate Temperature 0 ~ 40°C

Ambience Storage Temperature -20 ~ 60°COpe/Storage Humidity ≤ 90% RH, non-condensingVib./shock Duravility 2G/10 timesProtection IP-40 equivalent (Standard), IP-54 (Dust proof sealed model)

Weight (kgs) 1.6 1.9 2.2 2.5 2.8 3.1 1.9 2.2 2.5 2.8 3.1 3.4 1.9 2.2 2.5 2.8 3.1 3.4 1.9 2.2 2.5 2.8 3.1 3.4Functions - Positioning with speed, Accele - Increment movement - Stroke Limit end set - Zone Signal output - Push Force Mode

- Home Direction Set - Suitable Auto Max. Accel - Zone Signal output - Complete signal range set - Servo Gain AdjustNotes: (*1) Typical data (*2) Stroke 200mm, 250mm and 300mm are available.


Speed vs Thrust Curves



MODEL SCLL6- SCLL6- SCLL6- SCLL6- SCLL6- SCLL6- SCLL6- SCLL6-

020-300A 020-400A 020-500A 020-600A 020-700A 020-800A 020-900A 020-A00AStroke (mm) 300 400 500 600 700 800 900 1000Max. Thrust (N) / (kgf) 200 / 20.4Max. vertical carriable wt at power ON 2.5 kgsPush mode max. Thrust (N)/(kgf) 140 / 14.2Max. Speed (mm/s) * note 1 300 280 220 180 150Repeatability (mm) ± 0.1Backlash (mm) 0.3Max. Load weight (kgs) 5 2 1Max. vertical load (kgs) 2.5 2 1Load moment (kgf-m) Mp=0.5, My=0.5, Mr=0.5 Mp=0.3, My=0.3, Mr=0.3 Mp=0.2, My=0.2, Mr=0.2Overhang length (mm) 150 or shorterProgram Capacity 16 PositioningsPower Supply DC24V ± 10% (Drive Power max. 3.0 Amps, Control power max. 0.2A)Life 3 years after the delivery, or 10,000 km operation under the use within the specs.



I/O Parallel DC24V type DI/DO Interface (Connector PIO)Output Names Completed Position Number (4bit binary: PM1,PM2,PM4,PM8), Positioning complete(PFIN/INP),


Serial Signal Serial Interface (Connector SIO)+5V, 0V, S+, S-

Protection function Over speed, Main power over voltage, abnormal voltage,Overload, Sensor abnormal, Servo abnormal, Encoder wire disconnected

Ambience Operate Temperature 0 ~ 40°CStorage Temperature -20 ~ 60°COpe/Storage Humidity ≤ 90% RH, not dew on the products

Weight (kgs) Actuator 3.7 4.7 5.7 6.7 7.7 8.7 9.7 10.7Amplifier 0.5

Functions Positioning with speed, Accele/Decel Servo Gain AdjustPush Force Mode Stroke Limit end setHome Direction Set Zone Signal outputSpeed ProfileSuitable Auto Max. Accel

Notes: (*1) Typical data, (*2) Rodless Actuators with stroke of 600 ~ 1,000mm are not stock items. Please call for delivery.

SCLL6 Model (Slider 20Kgf Type)


5.1.2. Rod speed-thrust curve



MODEL SCLL5- SCLL5- SCLL5- SCLL5- SCLL5- 010-050A 010-100A 010-150A 010-200A 010-300A

Stroke (mm) 50 100 150 200 300Max. Thrust (N) / (kgf) 50 / 5Max. vertical carriable wt at power ON 1 kgPush mode max. Thrust (N)/(kgf) 30 / 3Max. Speed (mm/s) * note 1 300Repeatability (mm) ± 0.1Backlash (mm) 0.3Max. Load weight (kgs) 5 (Horizontal)Max. vertical load (kgs) 2.5Load moment (N-m) (kgf-cm) Mp=0.5 / 5.1, My=0.5 / 5.1, Mr=2 / 20.4 (* note 2)Overhang length (mm) * note 3 100 or shorterProgram Capacity 16 MotionsPower Supply DC24V ± 10% (Drive Power max. 3.0 Amps, Control power max. 0.2A)Life 3 years after the delivery, or 10,000 km operation under the use within the specs.



I/O Parallel DC24V type DI/DO Interface (Connector PIO), Position complete (PFIN/INP)Output Names Completed Position Number (4bit binary: PM1,PM2,PM4,PM8),




Ambience Operate Temperature 0 ~ 40°CStorage Temperature -20 ~ 60°COpe/Storage Humidity =< 90% RH, non-condensing

Weight (kgs) Actuator 1.0 1.2 1.3 1.5 1.8Amplifier 0.5


Notes: (*1) Typical data, (*2) This is a load that the wt (m kg) is generated by the overhang (L m) from the arrior slider.

(The calculation of the load moement (kgf-cm) is: m (kg) x L (cm) < Mp, My, Mr)

The actual moment will be combinations of those moments (Mp, Py, Mr).

Notes: (*3) This is the acceptable over hand length from the slider carriage.





MODEL SCLG5- SCLG5- SCLG5- SCLG5- SCLG5- 010-050A 010-100A 010-150A 010-200A 010-300A

Stroke (mm) 50 100 150 200 300Max. Thrust (N) / (kgf) 100 / 10.2Max. vertical carriable wt at power ON 3 kgsPush mode max. Thrust (N)/(kgf) 70 / 70.1Max. Speed (mm/s) * note 1 300Repeatability (mm) ± 0.1Backlash (mm) 0.3Max. Load weight (kgs) 10 (Horizontal)Max. vertical load (kgs) 2.5Load moment (N-m) (kgf-cm) Mp=1.5 / 15, My=1.5 / 15, Mr=5 / 51 (* note 2)Overhang length (mm) * note 3 150 or shorterProgram Capacity 16 MotionsPower Supply DC24V ± 10% (Drive Power max. 3.0 Amps, Control power max. 0.2A)Life 3 years after the delivery, or 10,000 km operation under the use within the specs.



I/O Parallel DC24V type DI/DO Interface (Connector PIO), Position complete (PFIN/INP)Output Names Completed Position Number (4bit binary: PM1,PM2,PM4,PM8),





Weight (kgs) Actuator 1.3 1.5 1.7 1.9 2.3Amplifier 0.5


Notes: (*1) Typical data, (*2) This is a load that the wt (m kg) is generated by the overhang (L m) from the arrior slider.



Notes: (*3) This is the acceptable over hand length from the slider carriage.

SCLG5 Model (Slider High Rigidity Type)




MODEL SCLT4-015 SCLT4-030 SCLT6-025 SCLT6-050-XXX AS -XXX AS -XXX AB -XXX AB

Amplifier Built-in to actuator External Stroke (mm) 50 / 100 / 150 / 200 / 300 / 400 / 500 50 / 100 / 150 / 200 / 300 / 400 / 500 / 600 / 700Max. Thrust (N) / (kgf) 150 / 15 300 / 30 250 / 25 500 / 50Max. carriable wt at pwr ON (kg) 1.5 2.5 4 6Push mode max. Thrust (N)/(kgf) 105 / 10.5 210 / 21 175 / 17.5 350 / 35Ball screw lead (mm) 12 6 12 6Max. Speed (mm/s) * note 1 700 (680mm/s for 400 (340mm/s for 600 (500mm/s for 350 (600mm: 340mm/s)

500mm stroke) 500mm stroke) for 700mm stroke) (700mm: 250mm/s)Repeatability (mm) ± 0.02 ± 0.02 ± 0.2 ± 0.2Backlash (mm) 0.1 0.1 0.1 0.1Max. Hor Load weight (kg) 5 10 16 30Max. vertical load (kg) 1.5 2.5 4 6Load moment (Nm / kgf-cm) *2 Mp=12 / 120, My=12 / 120, Mr=31 / 310 Mp=25.7 / 257, My=25.7 / 257, Mr=58 / 580Program Capacity 16 PositionsPower Supply DC24V ± 10% (Drive Power max. 2.0 Amps, Control power max. 0.2A)Life 3 years after delivery, or 10,000 km operation when used within all specs.

Parallel DC24V type Digital Input InterfaceInput Names Position select bits (4 bit binary coded decimal: PC1,PC2,PC4,PC8)

Start (CSTR), Movement Interlock (ILK)Input current Max. 4mA / port, NPN Only Max. 4mA / port, PNP Standard

I/O Parallel DC24V type Digital Output InterfaceOutput Names Completed Position Number (4bit binary: PM1,PM2,PM4,PM8) : (SCLT6 Only)

Homed signal (ZFIN), Zone signal(ZONE), Alarm (ALM), Position complete (PFIN/INP)Output current Max. 10mA / port, NPN Only Max. 10mA / port, PNP Standard

Serial Signal Serial Interface (Connector SIO)+5V, 0V, S+, S-, ASCII Protocol Freely Available



Weight (kgs) 1.42/1.53/1.64/1.74/1.96/2.18/2.4 2.7 / 2.9 / 3.1 / 3.3 / 3.7 / 4.1 / 4.5 / 5.0 / 5.4Notes: (*1) Typical data, (*2) This is a load that the wt (m kg) is generated by the overhang (L m) from the arrior slider.



SCLT Models (15Kgf, 25kgf, 30kgf & 50kgf Types)


5.1.3. Dimensions

Actuator layout drawings:









SCLT4 Models (15Kgf & 30kgf Types)

SCLT6 Models (25Kgf & 50kgf Types)


External Amplifier (SCN6, SCLL, SCLT),


6. Interface specifications 6.1. Circuit Diagrams for 24VDC I/O (PNP) (1) PIO (24VDC) Input circuit

Input signal ON is defined as electrical connection of +24V with Input signal. Input signal OFF is electrical open of Input signal. The max. input current is 4mA.

(2) PIO (24VDC) Output Circuit Output signal ON is defined as electrical connection of OVDC with Output signal. Definition of Output signal OFF is electrical open of Output signal


(3) SIO (Serial I/O) Circuit

6.2. PIO specifications

6.2.1. Input signals

Number Symbol Functions 1 +24V Power DC24V, positive 2 0VDC Power DC24V, common 3 PC1 Input of Position registration number: Total of PC1 to PC8

ON means 1, OFF means 0 4 PC2 Input of Position registration number: Total of PC1 to PC8



ON means 8, OFF means 0 7 CSTR Strobe input for Input of Position registration number

1. At the edge of OFF=>ON, the controller reads the sum of PC1~8, then it will move the cylinder to the target position. (same as positioning order)

2. At the edge of OFF=>ON of when Home is unknown, it will move the cylinder to home, then move it to the target position.

8 ILK Axis movement Interlock input 1. If turned OFF during a move, the cylinder will stop, then register the

position where the cylinder stopped as the temporary target position, maintaining the original target position in memory.

2. When the ILK signal is turned ON, the registered temporary position will be deleted and the original target position will become the target position. Motion will resume immediately. (“Cancel” function is also available)



Number Symbol Functions 1 +24V Main Power DC24V, positive 2 0V Main Power DC24V, common 3 +24V Control Power DC24V, positive 4 0V Control Power DC24V, common 5 PC1 Input of Position registration number: Total of PC1 to PC8




ON means 8, OFF means 0 9 CSTR Strobe input for Input of Position registration number

1. At the edge of OFF=>ON, the controller reads the sum of PC1~8, then it will move the cylinder to the target position. 2. At the edge of OFF=>ON of when Home is unknown, the cylinder will move to home, then move to the target position automatically.

10 NC No connection 11 NC No connection 12 ILK Axis movement Interlock input

E-Stop Input Mode 1. If the ILK signal is interrupted (switched to OFF) during the rotation, it will stop the cylinder with full power and register the position where the cylinder stopped as its temporary target position. 2. When the ILK signal is resumed, the registered temporary position will be deleted and the axis will immediately resume the previously commanded motion to the original target position. (“Cancel” function is also available)

13 NC No connection 14 NC No connection

Reference : Position number combination Table (for all models) Position Number Resister

0 1 2 3 4 5 6 7 8 9 A B C D E F

PC1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 PC2 0 0 1 1 0 0 1 1 0 0 1 1 0 0 1 1 PC4 0 0 0 0 1 1 1 1 0 0 0 0 1 1 1 1 PC8 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1

CSTR (At Starting up, Data of PC1 to PC8 will be read)

SCN6 Models / SCLT Models. SCLL Model (External amplifier type)


6.2.2. Input signal details

[+24V] Power input. The control power for the Mechatronics Cylinder is +5V generated within the servo controller. The alarm signal will be reset by turning OFF the main power input and CSTR signal turning ON after the cause of the alarm is fixed.

[0V] Common. This is common with the lower voltage (Ground) of the control power circuit and the lower voltage side of serial interface.

[PC1] [PC2] [PC4] [PC8] These are the destination position number inputs. When the input signal edge of CSTR changes (OFF => ON), the destination position numbers inputs are checked (their bit weight is 20 of PC1, 21 of PC2, 22 of PC4 and 23 of PC4). Please note that the inputs of PC1 to PC8 must be ready when the CSTR signal changes from OFF to ON. If the input conditions of PC1 to PC8 change after the rising edge of the CSTR input, there won’t be any influence to the motion (when the cylinder is configured in Normal mode) If the application requires only 2 places, only any one of the position number inputs is needed. For example: [PC1] input can select position numbers 0 and 1. [PC2] input can select position numbers 0 and 2. [PC4] input can select position numbers 0 and 4. [PC8] input can select position numbers 0 and 8. [CSTR] This is a strobe input. When CSTR goes high (OFF => ON), the destination position numbers (PC1, 2, 4, and 8) are read in 4-bit binary and summed to determine which motion to run. Due to the internal filter, the CSTR signal must be ON for 4ms or longer. If this signal edge is detected before homing has been completed (when ZFIN output is turned OFF), the homing operation will be executed automatically, after which the actuator will immediately run the requested motion. The CSTR and PC1, 2, 4, and 8 inputs can theoretically be turned on at the same time, however, some PLCs may have slight delays in the response of their outputs, in which case the PC1, 2, 4, and 8 inputs may not finish switching before the rising edge of the CSTR input is registered. To be safe it is recommended to switch the PC1 to 8 inputs at least 4ms before the CSTR input is turned ON. When the CSTR signal is turned ON, the PFIN signal will be turned OFF. If the CSTR signal is kept ON when the actuator has reached its destination, the PFIN signal won’t be turned ON. Please keep the CSTR signal ON for at least 4ms and turn it off before the actuator finishes its move.

[ILK] The ILK input will either cancel or pause the motion of the actuator when the input status drops to 0VDC. The teach pendant or PC Tool software can change this behavior. The default setting is the “Pause” mode. The ILK input should be always turned ON for normal operation. Details for the Pause mode (Default):

If the ILK signal is turned OFF during motion, the actuator will start to decelerate (at maximum or programmed decal) then stop. This stop position is designated as the temporary destination position but the original destination position is still stored. When the ILK signal turns back ON, the temporary destination position is deleted, and the original destination position is set to the current destination. The moves restarts to the original destination position. If a new position command is executed (using PC1, 2, 4, 8 and CSTR) while the ILK signal is turned OFF, the actuator will move to the new position after the ILK signal is turned back ON.


If the ILK signal is turned OFF and the actuator stops, the PFIN signal stays OFF, however, the PFIN signal will turn ON after the ILK signal is resumed (ON) and the actuator reaches the destination position.

Move command cancel input mode: If the new MOVE command is entered when the ILK signal is turned OFF and the actuator stops, the new MOVE command will be disregarded. If the ILK signal is turned OFF and the actuator stops, the PFIN signal is turned ON. The PFIN signal stays ON when the ILK signal is turned back ON.

6.2.3 Output signal

Number Symbol Functions 9 PFIN Position completion output

① ON: The output goes high when the Mechatronics Cylinder has moved to within the position width tolerance of the target position. Please note that PFIN signal won’t be turned ON until the CSTR signal is turned OFF.

②OFF: The output goes low when motion to a new target position is initiated. Notes: -The tolerance used to determine when the PFIN output goes high is set by the “At Position Width” variable in the programming device. -This output will not operate properly if the “CSTR” signal is left high. The CSTR signal should be pulsed OFF-ON-OFF to initiate motion, and therefore is expected to be OFF when motion finishes.

10 ZFIN Homing completion output ① ON: The output will be ON after homing completion. ② OFF: The output is OFF after the Mechatronics Cylinder is first powered up and /or when an encoder-related alarm occurs. ZFIN won’t be turned ON until the homing is completed.

11 ZONE Zone signal output ① ON: The output will be ON when the position of the axis is within the range programmed to be the “Zone”. ②OFF: The output will be OFF if the axis has not been homed or if the rod is outside the programmed zone.

12 ALM Controller alarm output ① ON: The output will be ON during normal operation. ②OFF: The output will be OFF in case of Alarm.



No. Symbol Functions 15 PM1 Completion signal output: Total of PM1 to PM8

ON means 1, OFF means 0 16 PM2 Completion signal output: Total of PM1 to PM8



ON means 8, OFF means 0 19 PFIN Position completion output

① ON: The output goes high when the Mechatronics Cylinder has moved to within the position width tolerance of the target position. Please note that PFIN signal won’t be turned ON till CSTR signal is turned OFF. ②OFF: The output goes low when motion to a new target position is initiated. Notes: -The tolerance used to determine when the PFIN output goes high is set by the “At Position Width” variable in the programming device. -This output will not operate properly if the “CSTR” signal is left high. The CSTR signal should be pulsed OFF-ON-OFF to initiate motion, and therefore is expected to be OFF when motion finishes.

20 ZFIN Homing completion output ① ON: The output will be ON after homing completion. ② OFF: The output is OFF after the Mechatronics Cylinder is first powered up and /or when an encoder-related alarm occurs. ZFIN won’t be turned ON until the homing is completed.

21 ZONE Zone signal output ① ON: The output will be ON when the position of the axis is within the range programmed to be the “Zone”. ②OFF: The output will be OFF if the axis has not been homed or if the rod is outside the programmed zone.

22 ALM Controller alarm output ① ON: The output will be ON during normal operation. ②OFF: The output will be OFF in case of Alarm occurs.

23 NC No connection 24 FG Frame Ground

6.2.4. Output signal details

[PFIN] This is the position completion signal. The output first goes high after the power supply is turned ON and the servo amplifier is ready for operation. The PFIN signal will be turned OFF when the CSTR signal is turned ON to command a move. PFIN will be turned back ON when the current actuator position is within the range of the “At Position Width” parameter (set in the programming package) from the programmed destination position if the CSTR signal has been turned OFF. The PFIN signal will also be turned OFF if the actuator is beyond the software stroke limit.



[ZFIN] This is the homing completion output. This output will be low when the power is turned ON and if any error/alarm relating to encoder has occurred. This output will be high after the homing operation is completed. The ZFIN signal won’t be turned OFF during operation except in case of position feedback errors or control power shut down.

[ZONE] This output signal will be high when the actuator position is within the zone boundaries set in the programming software or teach pendant. This output will be low before homing completion (when the ZFIN output signal is OFF) and when the actuator is outside of the programmed ZONE range. The ZONE output won’t be affected by alarm conditions. [ALM] This is the alarm output and this output signal will be high when the operation is under normal conditions. This output signal will be low when an error has occurred. Alarm codes can be read from the pendant or software and referenced in section 9.

6.2.5. Timing Chart

Following is timing chart of the operation with parallel interface connection (PIO connection):

Name Min. Max. Descriptions twcs1 4 msec CSTR ON shortest timing duration twcs0 4 msec CSTR OFF shortest timing duration thcs 0 msec PFIN OFF=>PC1 holding time tspc 0 msec CSTR ON=>PC1~PC8 set up time thcspc 4 msec CSTR ON=>PC1~PC8 holding time thpfpc 0 msec PFIN OFF=>PC1~PC8 holding time tdpf 4 msec CSTR ON=>PFIN OFF delay time tdip 4 msec CSTR ON=>INP OFF delay time

(Note 1) Above is timing in case of 10K Ω load or smaller of output circuit.


tdpf

tdip

PC4,PC8 n1

PFIN

tspc

INP

PC1,PC2

CSTR

n2 n3

thcspc

thpfpc

twcs1

thcs

twcs0


Name Min. Max. Descriptions twcs1 4 msec CSTR ON shortest timing duration twcs0 4 msec CSTR OFF shortest timing duration thcs 0 msec PFIN OFF=>CSTR holding time tspc 0 msec CSTR ON=>PC1~PC8 set up time thcspc 4 msec CSTR ON=>PC1~PC8 holding time thpfpc 0 msec PFIN OFF=>PC1~PC8 holding time tdpf 4 msec CSTR ON=>PFIN OFF delay time tspm 0 msec PFIN ON=>PM1~PM8 set up time thpm 4 msec PFIN OFF=>PM1~PM8 0 Output delay time tdip 4 msec CSTR ON=>INP OFF delay time tdpm 4 msec INP ON=> PM1 ~ PM8 establishment delay time

(Note 1) Above is timing in case of 10K Ω load of output circuit or smaller.

tdpf

n1

n1

INP

PM1,PM2PM4,PM8

PM1,PM2PM4,PM8

tdip

PC1,PC2PC4,PC8 n1

PFIN

CSTR

n2

tspc

thpfpc

thcspc

thcs

twcs1

tdpm

n2

n2

tspm

twcs0

n3

0

thpm



6.3. Specification of SIO

In case of use of SIO, please refer the enclosed manual of “Termi-BUS Interface”.

6.3.1. Summary

Electrical specification: Compatible with RS485 Speed: Selectable in the range of 9.6 kbps ~ 115.2 kbps (9.6 kbps only after the BREAK order) Synchronizing method: Micro timing adjusting method Data (1 character) length: 8 bit Parity: None Start/Stop bit: 1 bit Xon/Xoff: Non Pallet length: 16 characters (Structure: STX + data 12 characters + check sum 2 characters x etx) Connection type: BUS connection (multi point connections: Max 16 axes) Connectors: Connectors made by AMP company Mechatronics Cylinder Connector Pin Layout

No. Name Functions 1 +5V 2 TRx+ Transmitter/Receiver+ 3 5G Signal Ground 4 TRx- Transmitter/Receiver-

7. Support equipment 7.1. PC Tool (Model: TBVST-EN-SET) PC Tool is a PC software kit to operate JOG and other set up for single axis. (1) Contents of PC Tool, Model: TBVST-EN-SET (see red circle in the following figure) ①-1 PC Setting Tool : TBVST-EN (to install it in PC for Online operation) ①-2 Offline Setting Tool : CTA-1EX (to install it in PC for Online/Offline operation) ①-3 PC PLC Software : CTC-Tool (to install it in PC for sequence program) ①-4 Motor Set Up Tool : MVST-EN (to install it in PC for RSA servo motor set up)

② RS232/RS485 Adaptor : ADP-1 (to connect with PC serial port)

③ Connector Junction : ADP-2-4 (Junction for cables)

④ ADP Cable (1m) : RP9050-010 (to connect Mechatronics Cylinder and ADP-2-4)

⑤ SIO Cable (1m) : RP9041-010 (to connect ADP-1 and ADP-2-4)

Programming software(TBVST-EN)

Connect with DC24V Power SupplyConnect ILLK terminal with +24V

Connector Converter（ADP-2）

SIO Cable, 1m(RP9041-010)

ADP Cable, 1m(RP9050-010)

RS232/485 Converter(ADP-1)

Tool kit Circled in Red


Refer to the PC-Tool Manual for more information.

(2) How to install Installation condition of PC is as follows: WINDOWS 95, 98, 2000, NT 4.0 Please click the program button to start installation. 7.2. Teaching Pendant Tool (Model: CTA-23EN-SET) (1) Contents of Teaching Pendant tool kit, Model: CTA-23ENS-SET (see red circle in the following figure) ① Teaching Pendant : CTA-23EN (to connect with Mechatronics Cylinder)

② ADP Cable (1m) : RP9050-010 (to connect Mechatronics Cylinder and CTA-23)

(2) View of Teaching Pendant (3) Please refer to the Teaching Pendant operation manual for details.

Connect with DC24V power supplyConnect ILK terminal with +24V

ADP Cable, 1m(RP9050-01)

Tool kit Circled in Red


7.3. RS232C/RS485 Junction Converter Circuit

(Model: ADP-1)

(1) Model No.: ADP-1 (2) Dimensions

Please refer to 4.4 (wiring examples of outside connections) for connector connection. Please use SIO

cable (6 conductors) for connector cable. 7.4. Connector Converter: ADP-2-4 (1) model: ADP-2 (2) Dimensions

and circuit diagram

(Note) In case of ADP-2 use, please use at least one axis on CN2. Because CN3, CN4 and CN5 are not wired with +5V, only CN2 is wired to +5V.


7.5. Cables

(1) Parallel connector cable (Model: RP9100-030) Connector Made by Hirose Socket DF1B-14DES-2. 5RC Pin DF1B-2022SC (AWG22-20)

DF1B-2428SC (AWG26-24)

(Model: RP9120-030) Connector Made by Hirose Socket DF1B-24DES-2. 5RC Pin DF1B-2022SC (AWG22-20)

DF1B-2428SC (AWG28-24)

3000

SCN5 Model (10Kgf Type) 3 PC1 Black 4 PC2 White 5 PC4 Red 6 PC8 Green 7 CSTR Yellow 8 ILK Brown 9 PFIN Blue

10 ZFIN Gray 11 ZONE Orange 12 ALM Light green

1 +24V Red 2 0V Black

13 FG Green 14 FG White

1 +24V Red 4 0V White 2 0V Black 23 NC (No

connection) Brown

3 +24V Yellow 24 Ground Green

5 PC1 Black 15 PM1 Grey 6 PC2 White 16 PM2 Pink 7 PC4 Red 17 PM4 Light Green 8 PC8 Green 18 PM8 Orange 9 CSTR Yellow 19 PFIN Light blue 10 NC Brown 20 ZFIN Dark Brown 11 NC Blue 21 ZONE White/Black 12 ILK Purple 22 ALM Red/Black

シリンダのコネクタへ接続三角印

パラレル接続ケーブル（RP9120-***）

2324

1

2

To the Mechatronics Cylinder Controller Triangle Mark

Parallel cable pin number locations of RP9120)



(2) Serial connector cable (model: RP9050-030) (applicable for any Mechatronics Cylinders) 1 +5V Red 2 TRx+ White 3 0V Black 4 TRx- Green Connector Made by AMP Co. Socket 172167-1 Plug 170365-1 7.6. Foot mounting brackets FT001: for SCN5

FRONT BRACKET


FT002: for SCN6


8. Maintenance 8.1. Maintenance & Inspection Please inspect your Mechatronics Cylinder periodically following the chart below. Check Up Items Points Notes

Vibration and sound Sound level should not be higher than usual

Check if there is no noise increase from regular operations.

Appearance Clean with cloths and/or air

Parts clean up No major dust, dirt, oil, etc.

Clean with cloths and/or air

Mechatronics Cylinder

Tightness of screws No loose screws Tighten screws

Notes: Ambient temperature should be within the specification. If the actual ambient temperature is greater than the specification, the actuator life will be shortened. 8.2. Warranty In case of defects discovered upon delivery of your actuator, Mirai Inter-Technologies will replace the defective products. This warranty doesn’t cover damage to products caused by the customer or incorrect orders by the customer.


9. Diagnosis of Abnormal Operation

9.1. Diagnosis by Alarm Codes If an Alarm is detected, please investigate it using the following chart, and then remove the cause. The controller will send an Alarm code (see following chart) through the SIO line. Name of Alarm Alarm

Code Conditions Cause Action

Bank 30 data error B0 Bank 31 data error B1

Occurs when bad data was entered

Out of range data entered

Modify data to fall within the range

Defective controller Replace product Occurs when power was turned ON Defective motor Replace product

Encoder stall judge error

B8

Occurs other than above case

Defective controller Replace product

Defective controller Replace product Defective motor Replace product

Encoder counter error

B9 Occur when power was turned ON

Shaft seized See Below (Action 1) ILK signal is not turned ON

Turn ILK signal ON Homing time out error

BE Occurs when homing

Defective motor Replace product Occurred when power was turned ON

Defective controller Replace product Over speed C0

Occurs during Cylinder operation

Defective motor encoder

Replace product

Servo error C1 Occurred when power was turned ON


Occurred when power was ON


Occurred when power was ON

Over voltage of supply power

Correct supply power within the specification

Main power over voltage

D0


Over load Correct the load within the specification

Defective controller Replace product Occurred when power was ON Over voltage of supply

power Correct supply power within the specification

Over load - Review mechanical design of customer to reduce load within the specification - Reduce the acceleration

Regenerative Voltage error

D1


Incorrect parameter Check parameter Occur when power was turned ON


Over load Check load

Deviation counter error

D8

Occurs during Cylinder operation Cylinder is being

locked Unlock

Occurred when power was turned ON


Over load Check load High ambient temperature

Cool down ambient temperature under 40°C

Over heat E0


Shaft is seized See Below (Action 1)


Cylinder runs for a while but not enough thrust, after a while, cylinder stall


Occurs even though low thrust


Wiring mistake of encoder

Repair wiring

Defective amplifier Replace amplifier


Defective encoder of Cylinder motor

Replace product

Encoder wire disconnected (Both A wire, B wire)

E8


Wiring mistake of encoder (defective connection)

Repair wiring


Repair wiring




Replace product

Encoder wire disconnected (A wire)

E9



Repair wiring


Repair wiring




Replace product

Encoder wire disconnected (B wire)

EA



Repair wiring

EEPROM Check Sum Error

F8 Occurred when power was turned ON, or during Cylinder operation

Defective control Reset power (Turn power OFF, then turn power ON) If this error occurs again, replace product

9.2. Error Diagnosis by error operation of Mechatronics Cylinder In case of error operation of Mechatronics Cylinder with no Alarm detection, please investigate the problem using the following chart. Error Operation Cause How to check Action

Power is not turned ON or connected

- Check the voltage of power supply - Check the wiring of power

Power wiring to be corrected

Loose connectors Check connectors Tighten loose connectors

Shaft seized Check if external load causing the shaft seized.

See Below (Action 1)

Cylinder doesn’t start

External wiring mistake of connector

Check external wiring Repair wiring


Over load Try to run Cylinder only without any load

Load to be within specs

No movement signal Check position program Position program to be corrected

Cylinder moved just a moment but stalled

Wiring is wrong Wiring to be corrected

Unstable Cylinder motion

Wiring connections are not stable

Check connections (Terminals, connectors, etc.) and wiring

Wiring to be corrected

Servo Gain is too high Check Gain Reduce Gain – factory default is 6

Cylinder vibrates

Cable gets noise from other equipment

Test with other equipment off or isolated

Route cable away from noise source and/or Cable to be shielded

Ambient temperature is too high

Check the ambient temperature Lower the ambient temperature to under 40°C

Cylinder surface is not clean

Check the appearance of Cylinder

Remove dust, oil etc. on the surface of Cylinder

Cylinder heats up

Overload Try to run Cylinder without any load

Reduce the load and/or review the guiding design

Mounting is loose Check the mounting of Cylinder and other machine, Loose mounting screws, incorrect concentricity, etc.

Correct the mounting and/or joint to load

Other machine /equipment is vibrating

Check the moving parts of other machine

Check with the manufacturer of other machine

Defective Cylinder Try to use other good Cylinder Replace product

Abnormal noise

Cylinder hits the over stroke limit end due to over run

Reduce the Acceleration/Deceleration of Cylinder

Correct position accel /Deceleration

Communication method is not suitable

Check if output of main control system is RS485

In case of main control system RS232C, use a protocol converter for communication

Output port # is set wrong

Correct output port number and setting

Wrong axis number Correct axis number

SIO communication is not valid

Reply time of Cylinder is longer than receiving time of upper control System (PC)

Check if longer receiving time of main control system (PC) helps to communicate

Set shorter reply time of Cylinder

REFERENCE: Action 1 – Shaft Seized 1. In this condition the actuator won’t move. If this condition continues, the over-load alarm (code E0) will be output. If the problem (shaft seized) is not resolved when the main power is cycled (shut down and turned back ON), the encoder counter error (code B9) will be output.


2. Remedy Please turn the power OFF and remove the external load to the actuator. Please turn the power back ON, and try to run the actuator without any load. If the shaft remains seized, please turn OFF the power and try several times to move the actuator manually in the direction that the actuator was trying to move. If the problem cannot be resolved, please replace the actuator.

2-60 Uneda-Nishi, Kanazawa Ishikawa-Ken, 920-0342 Japan Tel: 81-76-267-9103, Fax: 81-76-267-9104

Manufactured by:

Mirai Inter-Technologies Systems Ltd. 35 Pollard St. Richmond Hill, ON L4B 1A8 Canada Tel: 905-763-9442 Fax: 905-763-9766

Imported by:

Mechatronics Cylinder - Mirai Inter- · PDF fileThe Mechatronics Cylinder consists of a rotary-linear motion transfer mechanism, ... AJ71UC24, A1SJ71US24-R2/R4/PRF, A1SJ71C24-R2/R4/PRF,

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